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<div class="title">test_osqp.cpp</div>  </div>
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<a href="../../d1/d7e/test__osqp_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;gmock/gmock.h&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &quot;gtest/gtest.h&quot;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../de/df0/utilities_8h.html">Utilities/utilities.h</a>&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &quot;osqp.h&quot;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno"><a class="line" href="../../d1/d7e/test__osqp_8cpp.html#a71cf40ce3d715ebc7447c4349a14e912">    7</a></span>&#160;<a class="code" href="../../d1/d7e/test__osqp_8cpp.html#a71cf40ce3d715ebc7447c4349a14e912">TEST</a>(OSQP, osqp_c_interface) {</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;  <span class="comment">// problem:</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;  <span class="comment">// &gt;&gt; H = [4 1; 1 2]; f = [1;1]; A = [1 1; 1 0; 0 1; -1 -1; -1 0; 0 -1]; b =</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;  <span class="comment">// [1 .7 .7 -1 0 0]&#39;;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;  <span class="comment">// &gt;&gt; x = quadprog(H,f,A,b)</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  <span class="comment">// x =</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  <span class="comment">//</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <span class="comment">//    0.3000</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <span class="comment">//    0.7000</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="comment">// hessian</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  c_float P_x[4] = {</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;      4.00,</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;      1.00,</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;      1.00,</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;      2.00,</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  };</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  c_int P_nnz = 4;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  c_int P_i[4] = {</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;      0,</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;      1,</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;      0,</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;      1,</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  };</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  c_int P_p[3] = {</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;      0,</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;      2,</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;      4,</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  };</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="comment">// gradient</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  c_float q[2] = {</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      1.00,</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      1.00,</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  };</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="comment">// constraint grad</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  c_float A_x[4] = {</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;      1.00,</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;      1.00,</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;      1.00,</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      1.00,</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  };</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  c_int A_nnz = 4;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  c_int A_i[4] = {</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      0,</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      1,</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      0,</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      2,</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  };</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  c_int A_p[3] = {</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      0,</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      2,</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      4,</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  };</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="comment">// bounds</span></div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  c_float l[3] = {</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      1.00,</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      0.00,</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      0.00,</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  };</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  c_float u[3] = {</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      1.00,</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      0.70,</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      0.70,</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  };</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  c_int n = 2;  <span class="comment">// number of vars</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  c_int m = 3;  <span class="comment">// number of constraints</span></div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="comment">// osqp things</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  OSQPSettings* settings = (OSQPSettings*)malloc(<span class="keyword">sizeof</span>(OSQPSettings));</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  OSQPWorkspace* workspace;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  OSQPData* data = (OSQPData*)malloc(<span class="keyword">sizeof</span>(OSQPData));</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  data-&gt;n = n;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  data-&gt;m = m;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  data-&gt;P = csc_matrix(data-&gt;n, data-&gt;n, P_nnz, P_x, P_i, P_p);</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  data-&gt;q = q;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  data-&gt;A = csc_matrix(data-&gt;m, data-&gt;n, A_nnz, A_x, A_i, A_p);</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  data-&gt;l = l;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  data-&gt;u = u;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="comment">// load defaults</span></div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  osqp_set_default_settings(settings);</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="comment">// printf(&quot;default alpha: %f\n&quot;, settings-&gt;alpha);</span></div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  settings-&gt;alpha = 1.0;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  workspace = osqp_setup(data, settings);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  osqp_solve(workspace);</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  printf(<span class="stringliteral">&quot;solution: %6.3f, %6.3f\n&quot;</span>, workspace-&gt;solution-&gt;x[0],</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;         workspace-&gt;solution-&gt;x[1]);</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(workspace-&gt;solution-&gt;x[0], .3, .0001));</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(workspace-&gt;solution-&gt;x[1], .7, .0001));</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  osqp_cleanup(workspace);</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  c_free(data-&gt;A);</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  c_free(data-&gt;P);</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  c_free(data);</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  c_free(settings);</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;}</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="../../d1/d7e/test__osqp_8cpp.html#abf9d097c775f961b11da65957ee75650">  111</a></span>&#160;<a class="code" href="../../d1/d7e/test__osqp_8cpp.html#a71cf40ce3d715ebc7447c4349a14e912">TEST</a>(OSQP, eigenDataOrder) {</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat&lt;double&gt;</a> m(2, 3);</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  m &lt;&lt; 1, 2, 3, 4, 5, 6;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keywordtype">double</span>* ptr = m.data();</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keywordtype">double</span> colMajor[6] = {1, 4, 2, 5, 3, 6};</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 6; i++) {</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    EXPECT_TRUE(colMajor[i] == ptr[i]);</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  }</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;}</div><div class="ttc" id="utilities_8h_html_a16ea9aab4737c2622bc370d6a8613d63"><div class="ttname"><a href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a></div><div class="ttdeci">bool fpEqual(T a, T b, T tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/df0/utilities_8h_source.html#l00015">utilities.h:15</a></div></div>
<div class="ttc" id="utilities_8h_html"><div class="ttname"><a href="../../de/df0/utilities_8h.html">utilities.h</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a807200f3771dbd2cb2e4be52c5f2518c"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, Eigen::Dynamic, Eigen::Dynamic &gt; DMat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00106">cppTypes.h:106</a></div></div>
<div class="ttc" id="test__osqp_8cpp_html_a71cf40ce3d715ebc7447c4349a14e912"><div class="ttname"><a href="../../d1/d7e/test__osqp_8cpp.html#a71cf40ce3d715ebc7447c4349a14e912">TEST</a></div><div class="ttdeci">TEST(OSQP, osqp_c_interface)</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/d7e/test__osqp_8cpp_source.html#l00007">test_osqp.cpp:7</a></div></div>
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